Method for computer-aided user assistance during the activation of a movement planner for a machine

ABSTRACT

Provided is a method for computer-aided user assistance during the activation of a movement planner for a machine, in which:a user interface is provided and can be used by a user to specify parameterization data for the movement planner, wherein the parameterization data comprise a machine model and an environment model;the collision-free movement space and the collision-prone movement space of the machine in the configuration space are determined on the basis of parameterization data specified via the user interface; one or more features with respect to the collision-free and/or collision-prone movement space are determined;a predefined plausibility criterion is checked for a respective feature of at least some of the features, wherein, if the plausibility criterion has not been satisfied, an output in the form of a warning message is produced via the user interface.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to EP Application No. 18153148.4,having a filing date of Jan. 24, 2018, the entire contents of which arehereby incorporated by reference.

FIELD OF TECHNOLOGY

The following relates to a method for computer-aided user assistanceduring the activation of a movement planner for a machine. The followingalso relates to a computer program product and to a computer program.

BACKGROUND

In many technical areas, machines are moved in an automated manner inorder to perform particular tasks. Examples of such machines areindustrial robots, medical devices or machine tools. Movement plannersare usually used in the automated movement of machines, which movementplanners are programs which determine suitable movement trajectories ofthe machine, such that no collisions occur between components of themachine or the environment.

Movement planners are generally generic programs which can be used fordifferent types of machine and spatial environments. In order to adaptthe movement planner to the current conditions, parameterization dataare specified by a user via a user interface during the activation ofthe movement planner. These parameterization data comprise a machinemodel and an environment model. The machine model describes, inter alia,the geometric dimensions of the machine, whereas the environment modelcontains the geometric dimensions of the environment in which themachine is intended to be operated.

After a movement planner has been parameterized, collision-free movementtrajectories (if available), which each run between a startconfiguration and a target configuration, specified by a user, in theconfiguration space of the machine, are calculated when using themovement planner in order to control the corresponding machine. Themachine is controlled according to the respective trajectory, with theresult that the machine moves along this trajectory in space.

After the parameterization of a movement planner has been concluded, itis often determined that planning requests for a multiplicity of startand target configurations require very long computing times fordetermining a collision-free trajectory or a collision-free trajectorycannot be found at all. The search for the causes of slow or failingplanning requests is difficult and nowadays requires expert knowledge.It is therefore desirable to already identify during the activation ofthe movement planner within the scope of its parameterization whetherthe parameterization data have errors or problems, with the result thatproblems are avoided during subsequent use of the movement planner.

SUMMARY

An aspect relates to provide a method for computer-aided user assistanceduring the activation of a movement planner for a machine, which methodis used to provide a user with information relating to possible errorsor problems in the parameterization data for the movement planner.

The method according to embodiments of the invention is used forcomputer-aided user assistance during the activation of a movementplanner for a machine. In this case, a movement planner is a planningprogram which can be executed via a suitable computer and is used todetermine a collision-free movement of the machine in space. In thiscase, the term “machine” should be broadly understood and may in thiscase be any desired technical device or technical system which isprovided for the purpose of carrying out automated movements. Inparticular, the machine may comprise an industrial robot or a medicaldevice, in particular an imaging device, for example an x-ray device ora magnetic resonance tomograph. The machine may likewise comprise amachine tool.

Within the scope of the method according to embodiments of theinvention, a user interface is provided and can be used by a user tospecify parameterization data for the movement planner. In one variant,this specification can be effected by directly inputting theparameterization data via the user interface, for example by means of akeyboard and/or a computer mouse. The parameterization data may likewisehave already been previously stored in a digital form in a correspondingmemory, with the result that in this case the user specifies theparameterization data by specifying the corresponding digital data viathe user interface.

The user interface used within the scope of the method according toembodiments of the invention may be configured differently and maycomprise different input and output means. The user interface has avisual display device, for example a display, which is used to specifythe parameterization data and on which the warning message describedfurther below is displayed.

The parameterization data comprise a machine model and an environmentmodel, wherein the machine model contains, inter alia, the geometricdimensions of the machine. In contrast, the environment model describesthe geometric dimensions of the environment in which the machine isintended to be operated.

Within the scope of the method according to embodiments of theinvention, the collision-free movement space and the collision-pronemovement space of the machine in the configuration space are determinedon the basis of parameterization data specified via the user interface,wherein the configuration space is a space of position vectors eachrepresenting a spatial position of the machine. In particular, theentries of these position vectors contain the possible positions ofrespective shafts of the machine. The configuration space is therefore amulti-dimensional space corresponding to the number of entries in theposition vectors. The configuration space is produced by the machinemodel.

A collision-free movement space should be understood as meaning thatregion in the configuration space in which no collisions occur betweenparts of the machine or other objects. In contrast to this, thecollision-prone movement space describes those locations in theconfiguration space at which there are collisions between parts of themachine and other objects. The corresponding determination ofcollision-free and collision-prone movement spaces is known per se andis therefore not described in any more detail.

After the collision-free movement space and the collision-prone movementspace have been determined, one or more features with respect to thecollision-free and/or collision-prone movement space are determined. Apredefined plausibility criterion is then checked for a respectivefeature of at least some of the features, wherein, if the plausibilitycriterion has not been satisfied, an output in the form of a warningmessage is produced via the user interface.

The term “feature” should be broadly understood here and below. Inparticular, a feature need not consist of an individual value, butrather can also describe complex relationships and, for this purpose,can also comprise a plurality of variable values.

The method according to embodiments of the invention is distinguished bythe fact that, during the activation of a movement planner, theparameterization data are subjected to an analysis in order to identifypossible weak points and indicate them to the user. Problems cantherefore be identified during parameterization without consulting aplanning expert and suitable adaptations can be made before using theplanner to control the actual machine.

Embodiments of the invention are based on the knowledge that featureswith respect to the collision-free and collision-prone movement spacecan be used to identify very well whether the subsequent movementplanning using the corresponding movement planner can result inproblems.

In one exemplary variant, the method according to embodiments of theinvention is used in combination with a movement planner which can beoperated with different planning algorithms, wherein these planningalgorithms can possibly be specified via the user interface. In thiscase, the warning message comprises a recommendation for at least one ofthese planning algorithms which is best suited to the specifiedparameterization data. Examples of corresponding recommendations aregiven in the detailed description.

In another exemplary variant, the ratio of the volume of thecollision-free movement space to the volume of the configuration spaceor of the collision-prone movement space is determined as a (checked)feature, wherein the plausibility criterion has been satisfied when theratio exceeds a predefined threshold. In this case, use is made of theknowledge that a low volume of the collision-free movement space oftenresults in the failure of the movement planning or in a long computingtime.

In another configuration of the method according to embodiments of theinvention, the number of separate contiguous collision-free areas andpossibly also their position and/or volume in the configuration spaceare determined as a (checked) feature, wherein the plausibilitycriterion has been satisfied when there is only one contiguous area. Ina contiguous area, each pair of two points can be reached via a movementtrajectory without leaving the area. This variant is based on theknowledge that the movement planning often fails in the case of aplurality of separate contiguous collision-free areas since, if thestart and target configurations are unfavorably selected, each movementtrajectory must always run through a collision-prone region between twoseparate contiguous collision-free areas.

In another configuration of the method according to embodiments of theinvention, the warning message output via the user interface comprisesthe notification that the machine model and/or the environment modelpossibly has/have errors. This variant is combined with the twoembodiments described above. In particular, the notification that themachine model possibly has errors is output if the above plausibilitycriterion relating to the ratio of the volume of the collision-freemovement space is checked as a feature. In contrast, if the checkedfeature comprises the number of separate contiguous collision-free areasin the configuration space, the notification that the environment modelpossibly has errors is output. The notification may comprise, forexample, a statement that components of the machine could have beenmodeled too roughly (that is to say with an insufficient degree ofdetail) or could have been placed incorrectly. The notification maylikewise comprise a statement that objects, for example artificialobstacles, may possibly have been modeled on an excessively large scale.Specific configurations of corresponding notifications are mentionedagain in the detailed description.

In another variant of the method according to embodiments of theinvention, when determining the collision-free movement space and thecollision-prone movement space, the configuration space is sampled and,for each sample value, it is determined whether or not the sample value(that is to say the corresponding position vector in the configurationspace) results in collisions. The volume and the position of thesemovement spaces are therefore determined in a sampling-based manner.

In one exemplary variant of the embodiment just described, when samplingthe configuration space, the frequency of the occurrence of respectivemachine components in the collision-prone movement space with respect tothe total number of sample values is determined as a (checked) feature.In this case, the plausibility criterion has been satisfied when thefrequency of the occurrence of at least one machine component exceeds apredefined threshold value, wherein the warning message contains, foreach machine component whose frequency exceeds the predefined thresholdvalue, the notification that this machine component has possibly beenmodeled incorrectly (for example on an excessively large scale or tooroughly). Detailed information relating to problematic machinecomponents is output in this manner using the warning message.

In another configuration of the method according to embodiments of theinvention, a planning request with a start configuration and a targetconfiguration of the machine in the configuration space can also bespecified via the user interface, wherein it is determined, on the basisof a determined feature specifying the position and the volume ofseparate contiguous collision-free areas in the configuration space,whether the planning request can be tackled, wherein, if the planningrequest cannot be tackled, an error message is output via the userinterface. In particular, the planning request cannot be tackled whenthe start configuration and the target configuration are in differentseparate contiguous collision-free areas or when the start positionand/or the target position is/are outside a separate contiguouscollision-free area.

In another configuration of embodiments of the invention in which aplanning request with a start configuration and a target configurationof the machine can likewise be specified via the user interface, amultiplicity of movement trajectories between the start configurationand the target configuration are calculated when processing a specifiedplanning request until a movement trajectory in the collision-freemovement space has been found or an abort criterion has been satisfied.In this case, the frequency of the occurrence of respective machinecomponents in the collision-prone movement space with respect to thetotal number of calculated movement trajectories is determined for thecalculated movement trajectories and a warning notification is outputvia the user interface for machine components whose frequency exceeds apredefined limit value. In this manner, the user receives a notificationof machine components which have possibly been modeled on an excessivelylarge scale or too roughly.

In addition to the method described above, embodiments of the inventionrelate to an apparatus for computer-aided user assistance during theactivation of a movement planner for a machine, wherein the apparatus isset up to carry out the method according to embodiments of the inventionor one or more exemplary variants of the method according to embodimentsof the invention.

Embodiments of invention also relate to a machine which can becontrolled via a movement planner, wherein the machine comprises theapparatus according to embodiments of the invention just described forcomputer-aided user assistance during the activation of the movementplanner.

Embodiments of the invention also comprises a computer programproduct(non-transitory computer readable storage medium havinginstructions, which when executed by a processor, perform actions)having a program code which is stored on a machine-readable carrier andis intended to carry out the method according to embodiments of theinvention or one or more exemplary variants of the method according toembodiments of the invention when the program code is executed on acomputer. Embodiments of the invention also relates to a computerprogram having a program code for carrying out the method according toembodiments of the invention or one or more exemplary variants of themethod according to embodiments of the invention when the program codeis executed on a computer.

BRIEF DESCRIPTION

Some of the embodiments will be described in detail, with reference tothe following figures, wherein like designations denote like members,wherein:

FIG. 1 shows a schematic illustration of a medical device having anapparatus for user assistance based on one embodiment of the invention;and

FIG. 2 shows a flowchart which illustrates the performance of oneembodiment of the method according to the invention.

DETAILED DESCRIPTION

One variant of the method according to embodiments of the invention isexplained below, by way of example, on the basis of the movementplanning of a medical device in the form of a C-arm.

FIG. 1 shows the C-arm 1 having a front C-shaped x-ray device 1 a whichcan be moved into a multiplicity of positions with respect to a patient(not illustrated) via an articulated arrangement 1 b in order to x-rayparticular regions of the patient's body. So that the C-arm carries outmovements which do not result in a collision with itself or with objectsin the environment, use is made of a movement planner BP in the form ofa program which is executed in a computer 2. The movement planner isdesigned for use for different types of C-arm and in different spatialenvironments. Therefore, parameterization data must be specified for themovement planner. These parameterization data are input via a userinterface 3 and are stored in the movement planner BP. For this purpose,the user interface comprises a visual display means or visual display inthe form of a screen 4 and a keyboard 5.

In order to determine possible errors in the parameterization databefore actually executing the movement planner for controlling the C-arm1, use is made of the method for user assistance which is describedbelow and is implemented by means of program code in the computer 2. Inthis case, it should be noted that the method need not necessarily runon a computer which is used to control the actual machine. Rather, themethod for user assistance may also be carried out independently of themachine to be controlled on a computer with the movement planner storedtherein in combination with a user interface. After the movement plannerhas been parameterized with the aid of the method for user assistance,the planner must then be transmitted to the corresponding computer forcontrolling the machine.

According to the method in FIG. 2 , parameterization data PD which havebeen input by a user via the user interface 3 are processed. Suchparameterization data are known per se and comprise a machine model MMand an environment model UM. The machine model MM describes, inter alia,the geometric dimensions of the corresponding machine which is a C-armin the example in FIG. 1 . The environment model UM describes thespatial conditions in the environment of the machine, in particular thepositions of walls and ceilings and of other objects in the space inwhich the machine is situated. Instead of inputting the parameterizationdata directly via the user interface, the user can also specify thesedata in another manner, for example by stipulating a file from which theparameterization data are intended to be read via the user interface.

After the parameterization data PD have been read in, the collision-freemovement space KF and the collision-prone movement space KB of themachine in the configuration space KO are determined in step S1 in FIG.2 , wherein the configuration space is a space of position vectors whichcontain, as entries, the possible positions of respective shafts of themachine. In this case, a range of values representing the possible shaftvalues is provided for each of the entries. These values are anglespecifications for articulated shafts and length specifications fortelescopic shafts.

The configuration space KO is given by the machine model MM. Thecollision-free movement space KF describes areas in the configurationspace KO in which there can be no collisions between machine componentsor between the machine and other objects. In contrast, thecollision-prone movement space KB describes regions in the configurationspace KO in which there are collisions between machine components orbetween the machine and other objects.

After the movement spaces KF and KB have been determined, one or morefeatures ME with respect to the collision-free or collision-pronemovement space are determined in step S2 in FIG. 2 . A predefinedplausibility criterion PK is checked for one or more of these featuresin step S3, wherein, if the plausibility criterion has not beensatisfied, a warning message WA is output via the user interface.

Examples of features ME and warning messages WA based thereon are givenbelow. In one variant, the relative volume of the collision-freemovement space, that is to say the ratio of the collision-free movementspace to the entire configuration space, can be determined as a featureME. In this case, the plausibility criterion PK is a threshold for thisvolume, in which case the criterion has not been satisfied if thisthreshold is undershot. In other words, the plausibility criterion isused to indicate that the collision-free movement space is very smalland therefore there is a great risk of collisions. If the plausibilitycriterion has not been satisfied, a warning message WA is output in thedescribed scenario, which warning message notifies the user that thereis possibly an error in the machine model and individual components ofthe machine could have been modeled too roughly (that is to say with aninsufficient fine granularity) or could have been placed incorrectly.

If it should be possible for the planner BP to use different planningalgorithms, a proposal for a suitable planner on the basis of therelative volume of the collision-free movement space can also possiblybe provided when outputting the warning message WA. In this case,planners with systematic searches are proposed via the warningnotification in the case of relatively small volumes, whereassampling-based planners are recommended in the case of larger volumes.Said types of planners are sufficiently well known to a person skilledin the art.

In another embodiment, the number of separate contiguous collision-freeareas in the configuration space is determined as a feature ME. In acontiguous area, each pair of two points can be reached in this case viaa movement trajectory without leaving the area. In this case, theplausibility criterion PK is configured in such a manner that it hasbeen satisfied only in the case of an individual separate contiguouscollision-free area. If there are a plurality of separate contiguouscollision-free areas, this indicates an error in the environment modelUM. Consequently, a warning message WA is output in this case andindicates that objects, for example artificial obstacles inserted forsafety reasons, have possibly been modeled on an excessively large scaleor at an incorrect location.

If the variant just described should be combined with a movement plannerin which different planning algorithms can be used, a tree-basedplanning algorithm is recommended in one embodiment via the warningmessage in the case of a larger number of separate contiguous areas,whereas roadmap-based planning algorithms are proposed in the case ofless contiguous areas. Said types of planners are sufficiently wellknown to a person skilled in the art.

In another variant of the method according to embodiments of theinvention, the collision-prone movement space and the collision-freemovement space are determined by means of sampling in the configurationspace. In this case, a multiplicity of position vectors in theconfiguration space are sampled in a suitable manner (for examplerandomly), wherein, for these vectors, it is determined whether or whichmachine components of the machine are in the collision-prone movementspace. This is used to determine the relative frequency of respectivemachine components in the collision-prone movement space by dividing thenumber of occurrences of machine components in the collision-pronemovement space for sampled position vectors by the total number ofsampled position vectors.

In the embodiment just described, the plausibility criterion PK isconfigured in such a manner that a warning message WA is output when therelative frequency of at least one machine component exceeds apredefined threshold. In this case, the warning message also stateswhich machine components have exceeded the threshold. The user alsoreceives the notification that these machine components could have beenmodeled on an excessively large scale or too roughly in the machinemodel.

The features ME determined within the scope of the method in FIG. 2 canpossibly also be used to analyze planning requests directed to themovement planner BP. In this case, a planning request in the form of astart configuration and a target configuration in the configurationspace of the machine can also be input or specified via the userinterface 3. The feature of the position and the volume of separatecontiguous collision-free areas can then be used to determine whetherthe start configuration and the target configuration are in differentcollision-free areas or whether the start position and/or the targetposition is/are outside the collision-free area. If this is the case,there is no collision-free movement trajectory for the machine. In thiscase, an error message is output via the user interface and indicatesthat the planning request cannot be tackled.

If the movement planner BP should be configured in such a manner that ittests a multiplicity of trajectories for freedom from collisions inorder to determine a suitable movement trajectory between the startconfiguration and the target configuration, it is also possible todetermine when processing the planning request in a further variant howoften respective machine components for the tested movement trajectoriesare in the collision-prone movement space. In other words, the quotientof the number of occurrences of the respective machine component in thecollision-prone movement space for the tested movement trajectories andthe total number of trajectories is formed for a respective machinecomponent. Should this frequency exceed a predetermined limit value forone or more machine components, the information stating that thismachine component has possibly been modeled too roughly or on anexcessively large scale is output via the user interface for each ofthese machine components.

The embodiments of the invention described above have a number ofadvantages. In particular, the user is provided with notifications ofpossible errors in the parameterization of a movement planner during theactivation of the movement planner in an automated manner without thehelp of experts being required for this purpose. This accelerates theactivation of the planner and reduces the costs of consulting planningexperts. In addition, the method according to embodiments of theinvention can possibly assist the user even with planning requests andcan notify the user of planning requests which cannot be carried out orof possible errors in the movement model or environment model.

Although the present invention has been disclosed in the form ofpreferred embodiments and variations thereon, it will be understood thatnumerous additional modifications and variations could be made theretowithout departing from the scope of the invention.

For the sake of clarity, it is to be understood that the use of ‘a’ or‘an’ throughout this application does not exclude a plurality, and‘comprising’ does not exclude other steps or elements.

The claims are as follows:
 1. A method for computer-aided userassistance during the activation of a movement planner for a machine,comprising: providing a user interface used by a user to specifyparameterization data for the movement planner, wherein theparameterization data comprise a machine model and an environment model,wherein the machine model contains the geometric dimensions of themachine and the environment model contains the geometric dimensions ofthe environment in which the machine is intended to be operated;determining a collision-free movement space and a collision-pronemovement space of the machine in a configuration space on the basis ofparameterization data specified via the user interface, wherein theconfiguration space is a space of position vectors each representing aspatial position of the machine, wherein the collision-free movementspace is a region in the configuration space in which no collisionsoccur between parts of the machine and/or other objects, wherein thecollision-prone movement space is a region in the configuration space atwhich there are collisions between parts of the machine and/or otherobjects; determining one or more features with respect to at least oneof the collision-free and collision-prone movement space, wherein aratio of the volume of the collision-free movement space to the volumeof the configuration space or of the collision-prone movement space isdetermined as a feature; and checking a predefined plausibilitycriterion for a respective feature of at least some of the features,wherein the plausibility criterion for the ratio of the volume of thecollision-free movement space to the volume of the configuration spaceor of the collision-prone movement space has been satisfied when theratio exceeds a predefined threshold, wherein, if the plausibilitycriterion has not been satisfied, an output in the form of a warningmessage is produced via the user interface, and if the plausibilitycriterion is satisfied, the movement planner for the machine is executedto control the machine, wherein checking the predefined plausibilitycriterion is performed before execution of movement planning by themovement planner to control the machine.
 2. The method as claimed inclaim 1, wherein the movement planner is operated with differentplanning algorithms, wherein the warning message comprises arecommendation for at least one of these planning algorithms which isbest suited to the specified parameterization data.
 3. The method asclaimed in claim 1, wherein the warning message comprises a notificationthat at least one of the machine model and the environment modelpossibly has an error.
 4. The method as claimed in claim 1, wherein thenumber of separate contiguous collision-free areas in the configurationspace is determined as a feature, wherein the plausibility criterion hasbeen satisfied when there is only one separate contiguous collision-freearea.
 5. The method as claimed in claim 1, wherein, when determining thecollision-free movement space and the collision-prone movement space,the configuration space is sampled and, for each sample value, it isdetermined whether or not the sample value results in collisions.
 6. Themethod as claimed in claim 5, wherein, when sampling the configurationspace, the frequency of the occurrence of respective machine componentsin the collision-prone movement space with respect to the total numberof sample values is determined as a feature, and the plausibilitycriterion has been satisfied when the frequency of the occurrence of atleast one machine component exceeds a predefined threshold value,wherein the warning message contains, for each machine component whosefrequency exceeds the predefined threshold value, the notification thatthis machine component has possibly been modeled incorrectly.
 7. Themethod as claimed in claim 1, wherein a planning request with a startconfiguration and a target configuration of the machine can also bespecified via the user interface, wherein it is determined, on the basisof a determined feature specifying the position and the volume ofseparate contiguous collision-free areas in the configuration space,whether a specified planning request is tackled, wherein, if theplanning request cannot be tackled, an error message is output via theuser interface.
 8. The method as claimed in claim 1, wherein a planningrequest with a start configuration and a target configuration of themachine can also be specified via the user interface and a multiplicityof movement trajectories between the start configuration and the targetconfiguration are calculated when processing a specified planningrequest until a movement trajectory in the collision-free movement spacehas been found or an abort criterion has been satisfied, wherein thefrequency of the occurrence of respective machine components in thecollision-prone movement space with respect to the total number ofcalculated movement trajectories is determined for the calculatedmovement trajectories and a warning notification is output via the userinterface for machine components whose frequency exceeds a predefinedlimit value.
 9. The method as claimed in claim 1, wherein the machinecomprises an industrial robot or a medical device, in particular animaging device, or a machine tool.
 10. A computer program productcomprising a computer readable hardware storage device having computerreadable program code stored therein, said program code executable by aprocessor of a computer system to implement the method as claimed inclaim 1 when the computer readable program code is executed on thecomputer system.
 11. An apparatus for computer-aided user assistanceduring the activation of a movement planner for a machine, comprising: auser interface which is used by a user to specify parameterization datafor the movement planner, wherein the parameterization data include amachine model and an environment model, wherein the machine modelcontains the geometric dimensions of the machine and the environmentmodel contains the geometric dimensions of the environment in which themachine is intended to be operated; a computer which is set up todetermine the collision-free movement space and the collision-pronemovement space of the machine in the configuration space on the basis ofparameterization data specified via the user interface, wherein theconfiguration space is a space of position vectors each representing aspatial position of the machine, wherein the collision-free movementspace is a region in the configuration space in which no collisionsoccur between parts of the machine and/or other objects, wherein thecollision-prone movement space is a region in the configuration space atwhich there are collisions between parts of the machine and/or otherobjects; to determine one or more features with respect to thecollision-free and/or collision-prone movement space, wherein a ratio ofthe volume of the collision-free movement space to the volume of theconfiguration space or of the collision-prone movement space isdetermined as a feature; and to check a predefined plausibilitycriterion for a respective feature of at least some of the features,wherein the plausibility criterion for the ratio of the volume of thecollision-free movement space to the volume of the configuration spaceor of the collision-prone movement space has been satisfied when theratio exceeds a predefined threshold, wherein, if the plausibilitycriterion has not been satisfied, the computer triggers an output viathe user interface in the form of a warning message, and if theplausibility criterion is satisfied, the movement planner for themachine is executed to control the machine; wherein the check of thepredefined plausibility criterion is performed before executing themovement planner to control the machine.
 12. The apparatus as claimed inclaim 11, the movement planner is operated with different planningalgorithms, wherein the warning message comprises a recommendation forat least one of these planning algorithms which is best suited to thespecified parameterization data.
 13. A machine which is controlled via amovement planner, wherein the machine comprises the apparatus as claimedin claim 11 for computer-aided user assistance during the activation ofthe movement planner.
 14. The apparatus of claim 11, wherein the warningmessage comprises a notification that at least one of the machine modeland the environment model possibly has an error.